OpenRaiser/Intern-Atlas huggingface dataset:
CodecLM: Aligning Language Models with Tailored Synthetic Data
Venue: arXiv cs.CL 2024
Year: 2024

Instruction tuning has emerged as the key in aligning large language models (LLMs) with specific task instructions, thereby mitigating the discrepancy between the next-token prediction objective and users' actual goals. To reduce the labor and time cost to collect or annotate data by humans, researchers start to explore the use of LLMs to generate instruction-aligned synthetic data. Recent works focus on generating diverse instructions and applying LLM to increase instruction complexity, often neglecting downstream use cases. It remains unclear how to tailor high-quality data to elicit better instruction-following abilities in different target instruction distributions and LLMs. To this end, we introduce CodecLM, a general framework for adaptively generating high-quality synthetic data for LLM alignment with different downstream instruction distributions and LLMs. Drawing on the Encode-Decode principles, we use LLMs as codecs to guide the data generation process. We first encode seed instructions into metadata, which are concise keywords generated on-the-fly to capture the target instruction distribution, and then decode metadata to create tailored instructions. We also introduce Self-Rubrics and Contrastive Filtering during decoding to tailor data-efficient samples. Extensive experiments on four open-domain instruction following benchmarks validate the effectiveness of CodecLM over the current state-of-the-arts.
Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot
Venue: arXiv cs.RO 2024
Year: 2024

In this study, a chair-type asymmetric tripedal low-rigidity robot was designed based on the three-legged chair character in the movie "Suzume" and its gait was generated. Its body structure consists of three legs that are asymmetric to the body, so it cannot be easily balanced. In addition, the actuator is a servo motor that can only feed-forward rotational angle commands and the sensor can only sense the robot's posture quaternion. In such an asymmetric and imperfect body structure, we analyzed how gait is generated in walking and stand-up motions by generating gaits with two different methods: a method using linear completion to connect the postures necessary for the gait discovered through trial and error using the actual robot, and a method using the gait generated by reinforcement learning in the simulator and reflecting it to the actual robot. Both methods were able to generate gait that realized walking and stand-up motions, and interesting gait patterns were observed, which differed depending on the method, and were confirmed on the actual robot. Our code and demonstration videos are available here: https://github.com/shin0805/Chair-TypeAsymmetricalTripedalRobot.git
Efficient Multi-Task Reinforcement Learning via Task-Specific Action Correction
Venue: arXiv cs.LG 2024
Year: 2024

Multi-task reinforcement learning (MTRL) demonstrate potential for enhancing the generalization of a robot, enabling it to perform multiple tasks concurrently. However, the performance of MTRL may still be susceptible to conflicts between tasks and negative interference. To facilitate efficient MTRL, we propose Task-Specific Action Correction (TSAC), a general and complementary approach designed for simultaneous learning of multiple tasks. TSAC decomposes policy learning into two separate policies: a shared policy (SP) and an action correction policy (ACP). To alleviate conflicts resulting from excessive focus on specific tasks' details in SP, ACP incorporates goal-oriented sparse rewards, enabling an agent to adopt a long-term perspective and achieve generalization across tasks. Additional rewards transform the original problem into a multi-objective MTRL problem. Furthermore, to convert the multi-objective MTRL into a single-objective formulation, TSAC assigns a virtual expected budget to the sparse rewards and employs Lagrangian method to transform a constrained single-objective optimization into an unconstrained one. Experimental evaluations conducted on Meta-World's MT10 and MT50 benchmarks demonstrate that TSAC outperforms existing state-of-the-art methods, achieving significant improvements in both sample efficiency and effective action execution.
Robot Safe Planning In Dynamic Environments Based On Model Predictive Control Using Control Barrier Function
Venue: arXiv cs.RO 2024
Year: 2024

Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function (CBF) as hard constraints to ensure that the system state remains in the safe set. However, in crowded scenarios, effective solutions may not be obtained due to infeasibility problems, resulting in degraded controller performance. We propose a new MPC framework that integrates CBF to tackle the issue of obstacle avoidance in dynamic environments, in which the infeasibility problem induced by hard constraints operating over the whole prediction horizon is solved by softening the constraints and introducing exact penalty, prompting the robot to actively seek out new paths. At the same time, generalized CBF is extended as a single-step safety constraint of the controller to enhance the safety of the robot during navigation. The efficacy of the proposed method is first shown through simulation experiments, in which a double-integrator system and a unicycle system are employed, and the proposed method outperforms other controllers in terms of safety, feasibility, and navigation efficiency. Furthermore, real-world experiment on an MR1000 robot is implemented to demonstrate the effectiveness of the proposed method.
3D Branch Point Cloud Completion for Robotic Pruning in Apple Orchards
Venue: arXiv cs.RO 2024
Year: 2024

Robotic branch pruning is a significantly growing research area to cope with the shortage of labor force in the context of agriculture. One fundamental requirement in robotic pruning is the perception of detailed geometry and topology of branches. However, the point clouds obtained in agricultural settings often exhibit incompleteness due to several constraints, thereby restricting the accuracy of downstream robotic pruning. In this work, we addressed the issue of point cloud quality through a simulation-based deep neural network, leveraging a Real-to-Simulation (Real2Sim) data generation pipeline that not only eliminates the need for manual parameterization but also guarantees the realism of simulated data. The simulation-based neural network was applied to jointly perform point cloud completion and skeletonization on real-world partial branches, without additional real-world training. The Sim2Real qualitative completion and skeletonization results showed the model's remarkable capability for geometry reconstruction and topology prediction. Additionally, we quantitatively evaluated the Sim2Real performance by comparing branch-level trait characterization errors using raw incomplete data and complete data. The Mean Absolute Error (MAE) reduced by 75% and 8% for branch diameter and branch angle estimation, respectively, using the best complete data, which indicates the effectiveness of the Real2Sim data in a zero-shot generalization setting. The characterization improvements contributed to the precision and efficacy of robotic branch pruning.
JSTR: Judgment Improves Scene Text Recognition
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we present a method for enhancing the accuracy of scene text recognition tasks by judging whether the image and text match each other. While previous studies focused on generating the recognition results from input images, our approach also considers the model's misrecognition results to understand its error tendencies, thus improving the text recognition pipeline. This method boosts text recognition accuracy by providing explicit feedback on the data that the model is likely to misrecognize by predicting correct or incorrect between the image and text. The experimental results on publicly available datasets demonstrate that our proposed method outperforms the baseline and state-of-the-art methods in scene text recognition.
A Lightweight Measure of Classification Difficulty from Application Dataset Characteristics
Venue: arXiv cs.LG 2024
Year: 2024

Although accuracy and computation benchmarks are widely available to help choose among neural network models, these are usually trained on datasets with many classes, and do not give a good idea of performance for few (< 10) classes. The conventional procedure to predict performance involves repeated training and testing on the different models and dataset variations. We propose an efficient cosine similarity-based classification difficulty measure S that is calculated from the number of classes and intra- and inter-class similarity metrics of the dataset. After a single stage of training and testing per model family, relative performance for different datasets and models of the same family can be predicted by comparing difficulty measures - without further training and testing. Our proposed method is verified by extensive experiments on 8 CNN and ViT models and 7 datasets. Results show that S is highly correlated to model accuracy with correlation coefficient |r| = 0.796, outperforming the baseline Euclidean distance at |r| = 0.66. We show how a practitioner can use this measure to help select an efficient model 6 to 29x faster than through repeated training and testing. We also describe using the measure for an industrial application in which options are identified to select a model 42% smaller than the baseline YOLOv5-nano model, and if class merging from 3 to 2 classes meets requirements, 85% smaller.
Comparison of Three Programming Error Measures for Explaining Variability in CS1 Grades
Venue: arXiv cs.PL 2024
Year: 2024

Programming courses can be challenging for first year university students, especially for those without prior coding experience. Students initially struggle with code syntax, but as more advanced topics are introduced across a semester, the difficulty in learning to program shifts to learning computational thinking (e.g., debugging strategies). This study examined the relationships between students' rate of programming errors and their grades on two exams. Using an online integrated development environment, data were collected from 280 students in a Java programming course. The course had two parts. The first focused on introductory procedural programming and culminated with exam 1, while the second part covered more complex topics and object-oriented programming and ended with exam 2. To measure students' programming abilities, 51095 code snapshots were collected from students while they completed assignments that were autograded based on unit tests. Compiler and runtime errors were extracted from the snapshots, and three measures -- Error Count, Error Quotient and Repeated Error Density -- were explored to identify the best measure explaining variability in exam grades. Models utilizing Error Quotient outperformed the models using the other two measures, in terms of the explained variability in grades and Bayesian Information Criterion. Compiler errors were significant predictors of exam 1 grades but not exam 2 grades; only runtime errors significantly predicted exam 2 grades. The findings indicate that leveraging Error Quotient with multiple error types (compiler and runtime) may be a better measure of students' introductory programming abilities, though still not explaining most of the observed variability.
Automatic Authorities: Power and AI
Venue: arXiv cs.CY 2024
Year: 2024

As rapid advances in Artificial Intelligence and the rise of some of history's most potent corporations meet the diminished neoliberal state, people are increasingly subject to power exercised by means of automated systems. Machine learning and related computational technologies now underpin vital government services. They connect consumers and producers in new algorithmic markets. They determine how we find out about everything from how to vote to where to get vaccinated, and whose speech is amplified, reduced, or restricted. And a new wave of products based on Large Language Models (LLMs) will further transform our economic and political lives. Automatic Authorities are automated computational systems used to exercise power over us by determining what we may know, what we may have, and what our options will be. In response to their rise, scholars working on the societal impacts of AI and related technologies have advocated shifting attention from how to make AI systems beneficial or fair towards a critical analysis of these new power relations. But power is everywhere, and is not necessarily bad. On what basis should we object to new or intensified power relations, and what can be done to justify them? This paper introduces the philosophical materials with which to formulate these questions, and offers preliminary answers. It starts by pinning down the concept of power, focusing on the ability that some agents have to shape others' lives. It then explores how AI enables and intensifies the exercise of power so understood, and sketches three problems with power and three ways to solve those problems. It emphasises, in particular, that justifying power requires more than satisfying substantive justificatory criteria; standards of proper authority and procedural legitimacy must also be met. We need to know not only what power may be used for, but how it may be used, and by whom.
AEGIS: Online Adaptive AI Content Safety Moderation with Ensemble of LLM Experts
Venue: arXiv cs.LG 2024
Year: 2024

As Large Language Models (LLMs) and generative AI become more widespread, the content safety risks associated with their use also increase. We find a notable deficiency in high-quality content safety datasets and benchmarks that comprehensively cover a wide range of critical safety areas. To address this, we define a broad content safety risk taxonomy, comprising 13 critical risk and 9 sparse risk categories. Additionally, we curate AEGISSAFETYDATASET, a new dataset of approximately 26, 000 human-LLM interaction instances, complete with human annotations adhering to the taxonomy. We plan to release this dataset to the community to further research and to help benchmark LLM models for safety. To demonstrate the effectiveness of the dataset, we instruction-tune multiple LLM-based safety models. We show that our models (named AEGISSAFETYEXPERTS), not only surpass or perform competitively with the state-of-the-art LLM-based safety models and general purpose LLMs, but also exhibit robustness across multiple jail-break attack categories. We also show how using AEGISSAFETYDATASET during the LLM alignment phase does not negatively impact the performance of the aligned models on MT Bench scores. Furthermore, we propose AEGIS, a novel application of a no-regret online adaptation framework with strong theoretical guarantees, to perform content moderation with an ensemble of LLM content safety experts in deployment
Improving Facial Landmark Detection Accuracy and Efficiency with Knowledge Distillation
Venue: arXiv cs.CV 2024
Year: 2024

The domain of computer vision has experienced significant advancements in facial-landmark detection, becoming increasingly essential across various applications such as augmented reality, facial recognition, and emotion analysis. Unlike object detection or semantic segmentation, which focus on identifying objects and outlining boundaries, faciallandmark detection aims to precisely locate and track critical facial features. However, deploying deep learning-based facial-landmark detection models on embedded systems with limited computational resources poses challenges due to the complexity of facial features, especially in dynamic settings. Additionally, ensuring robustness across diverse ethnicities and expressions presents further obstacles. Existing datasets often lack comprehensive representation of facial nuances, particularly within populations like those in Taiwan. This paper introduces a novel approach to address these challenges through the development of a knowledge distillation method. By transferring knowledge from larger models to smaller ones, we aim to create lightweight yet powerful deep learning models tailored specifically for facial-landmark detection tasks. Our goal is to design models capable of accurately locating facial landmarks under varying conditions, including diverse expressions, orientations, and lighting environments. The ultimate objective is to achieve high accuracy and real-time performance suitable for deployment on embedded systems. This method was successfully implemented and achieved a top 6th place finish out of 165 participants in the IEEE ICME 2024 PAIR competition.
A Systematic Literature Survey of Sparse Matrix-Vector Multiplication
Venue: arXiv cs.DC 2024
Year: 2024

Sparse matrix-vector multiplication (SpMV) is a crucial computing kernel with widespread applications in iterative algorithms. Over the past decades, research on SpMV optimization has made remarkable strides, giving rise to various optimization contributions. However, the comprehensive and systematic literature survey that introduces, analyzes, discusses, and summarizes the advancements of SpMV in recent years is currently lacking. Aiming to fill this gap, this paper compares existing techniques and analyzes their strengths and weaknesses. We begin by highlighting two representative applications of SpMV, then conduct an in-depth overview of the important techniques that optimize SpMV on modern architectures, which we specifically classify as classic, auto-tuning, machine learning, and mixed-precision-based optimization. We also elaborate on the hardware-based architectures, including CPU, GPU, FPGA, processing in Memory, heterogeneous, and distributed platforms. We present a comprehensive experimental evaluation that compares the performance of state-of-the-art SpMV implementations. Based on our findings, we identify several challenges and point out future research directions. This survey is intended to provide researchers with a comprehensive understanding of SpMV optimization on modern architectures and provide guidance for future work.
A Knowledge Producer's View on the Knowledge Commons
Venue: arXiv cs.DL 2024
Year: 2024

Hardin introduced the notorious concept of "tragedy of the commons". Worrying about the consequences of human overpopulation on the planet, he discussed "hard problems": problems with no technical solutions, that can only be addressed by way of an evolving morality. Hardin's tragedy of the commons predicts that the hard problem of human population growth directly implies a hard problem of overuse or pollution of the commons. This paper focuses on the knowledge commons. A technical proposal is presented, based on a JSON schema for structuring pieces of knowledge. This is used to show that even if the knowledge commons satisfies the necessary conditions of the tragedy of the commons, the ensuing problems are not necessarily hard. Some can be made trivial by relying on traditional principles implemented in a technical framework.
End-to-end training of Multimodal Model and ranking Model
Venue: arXiv cs.IR 2024
Year: 2024

Traditional recommender systems heavily rely on ID features, which often encounter challenges related to cold-start and generalization. Modeling pre-extracted content features can mitigate these issues, but is still a suboptimal solution due to the discrepancies between training tasks and model parameters. End-to-end training presents a promising solution for these problems, yet most of the existing works mainly focus on retrieval models, leaving the multimodal techniques under-utilized. In this paper, we propose an industrial multimodal recommendation framework named EM3: End-to-end training of Multimodal Model and ranking Model, which sufficiently utilizes multimodal information and allows personalized ranking tasks to directly train the core modules in the multimodal model to obtain more task-oriented content features, without overburdening resource consumption. First, we propose Fusion-Q-Former, which consists of transformers and a set of trainable queries, to fuse different modalities and generate fixed-length and robust multimodal embeddings. Second, in our sequential modeling for user content interest, we utilize Low-Rank Adaptation technique to alleviate the conflict between huge resource consumption and long sequence length. Third, we propose a novel Content-ID-Contrastive learning task to complement the advantages of content and ID by aligning them with each other, obtaining more task-oriented content embeddings and more generalized ID embeddings. In experiments, we implement EM3 on different ranking models in two scenario, achieving significant improvements in both offline evaluation and online A/B test, verifying the generalizability of our method. Ablation studies and visualization are also performed. Furthermore, we also conduct experiments on two public datasets to show that our proposed method outperforms the state-of-the-art methods.
Exploring the Necessity of Visual Modality in Multimodal Machine Translation using Authentic Datasets
Venue: arXiv cs.CL 2024
Year: 2024

Recent research in the field of multimodal machine translation (MMT) has indicated that the visual modality is either dispensable or offers only marginal advantages. However, most of these conclusions are drawn from the analysis of experimental results based on a limited set of bilingual sentence-image pairs, such as Multi30k. In these kinds of datasets, the content of one bilingual parallel sentence pair must be well represented by a manually annotated image, which is different from the real-world translation scenario. In this work, we adhere to the universal multimodal machine translation framework proposed by Tang et al. (2022). This approach allows us to delve into the impact of the visual modality on translation efficacy by leveraging real-world translation datasets. Through a comprehensive exploration via probing tasks, we find that the visual modality proves advantageous for the majority of authentic translation datasets. Notably, the translation performance primarily hinges on the alignment and coherence between textual and visual contents. Furthermore, our results suggest that visual information serves a supplementary role in multimodal translation and can be substituted.
Detection of fields of applications in biomedical abstracts with the support of argumentation elements
Venue: arXiv cs.CL 2024
Year: 2024

Focusing on particular facts, instead of the complete text, can potentially improve searching for specific information in the scientific literature. In particular, argumentative elements allow focusing on specific parts of a publication, e.g., the background section or the claims from the authors. We evaluated some tools for the extraction of argumentation elements for a specific task in biomedicine, namely, for detecting the fields of the application in a biomedical publication, e.g, whether it addresses the problem of disease diagnosis or drug development. We performed experiments with the PubMedBERT pre-trained model, which was fine-tuned on a specific corpus for the task. We compared the use of title and abstract to restricting to only some argumentative elements. The top F1 scores ranged from 0.22 to 0.84, depending on the field of application. The best argumentative labels were the ones related the conclusion and background sections of an abstract.